center: [0.45, 0.0, 0.0]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:

- object_id: active_perception/omni_objects/sofa/sofa_013
  xyz: [-0.003246061969548464, -0.003691340796649456, 0.35076379776000977]
  rpy: [89.41331273280474, 0.006644975749456691, -0.5148011890132356]
  scale: 1.0

- object_id: active_perception/omni_objects/shrimp/shrimp_037
  xyz: [-0.02333688549697399, -0.4782240688800812, 0.39501896500587463]
  rpy: [-87.55206648241646, -2.6230874315314585, -122.80571713998215]
  scale: 1.0

- object_id: active_perception/omni_objects/egg/egg_045
  xyz: [0.04740513116121292, -0.10784894227981567, 0.388706237077713]
  rpy: [32.928638427843836, -9.292853373544078, -81.02406125759929]
  scale: 1.0

- object_id: active_perception/omni_objects/popcorn/popcorn_041
  xyz: [0.11089237779378891, 0.33133822679519653, 0.38071608543395996]
  rpy: [53.21841039599089, 72.27829969248921, -128.50567234890286]
  scale: 1.0

- object_id: active_perception/omni_objects/soap/soap_037
  xyz: [0.21288235485553741, -0.15956145524978638, 0.38425374031066895]
  rpy: [-64.96348538013615, 79.83485206821227, -11.699132160562758]
  scale: 1.0

- object_id: active_perception/omni_objects/biscuit/biscuit_125
  xyz: [0.1104183942079544, -0.0906282290816307, 0.374197781085968]
  rpy: [-0.6452876597080318, 1.5177000787016008, -103.00819253824072]
  scale: 1.0

- object_id: active_perception/omni_objects/potato/potato_051
  xyz: [0.23015326261520386, -0.10084830969572067, 0.4005283713340759]
  rpy: [-66.95547342935782, 13.870625793103935, -87.83284128686851]
  scale: 1.0

- object_id: active_perception/omni_objects/garlic/garlic_032
  xyz: [0.013910310342907906, -0.050166282802820206, 0.3765539228916168]
  rpy: [11.081967954418294, -2.393614436551123, -88.95031959418714]
  scale: 1.0